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99 行
3.7 KiB
99 行
3.7 KiB
using UnityEngine.Profiling;
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namespace Unity.MLAgents.Actuators
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{
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/// <summary>
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/// IActuator implementation that forwards calls to an <see cref="IActionReceiver"/> and an <see cref="IHeuristicProvider"/>.
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/// </summary>
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internal class VectorActuator : IActuator, IHeuristicProvider
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{
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IActionReceiver m_ActionReceiver;
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IHeuristicProvider m_HeuristicProvider;
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ActionBuffers m_ActionBuffers;
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internal ActionBuffers ActionBuffers
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{
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get => m_ActionBuffers;
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private set => m_ActionBuffers = value;
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}
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/// <summary>
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/// Create a VectorActuator that forwards to the provided IActionReceiver.
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/// </summary>
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/// <param name="actionReceiver">The <see cref="IActionReceiver"/> used for OnActionReceived and WriteDiscreteActionMask.
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/// If this parameter also implements <see cref="IHeuristicProvider"/> it will be cast and used to forward calls to
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/// <see cref="IHeuristicProvider.Heuristic"/>.</param>
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/// <param name="actionSpec"></param>
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/// <param name="name"></param>
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public VectorActuator(IActionReceiver actionReceiver,
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ActionSpec actionSpec,
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string name = "VectorActuator")
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: this(actionReceiver, actionReceiver as IHeuristicProvider, actionSpec, name) { }
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/// <summary>
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/// Create a VectorActuator that forwards to the provided IActionReceiver.
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/// </summary>
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/// <param name="actionReceiver">The <see cref="IActionReceiver"/> used for OnActionReceived and WriteDiscreteActionMask.</param>
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/// <param name="heuristicProvider">The <see cref="IHeuristicProvider"/> used to fill the <see cref="ActionBuffers"/>
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/// for Heuristic Policies.</param>
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/// <param name="actionSpec"></param>
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/// <param name="name"></param>
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public VectorActuator(IActionReceiver actionReceiver,
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IHeuristicProvider heuristicProvider,
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ActionSpec actionSpec,
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string name = "VectorActuator")
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{
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m_ActionReceiver = actionReceiver;
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m_HeuristicProvider = heuristicProvider;
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ActionSpec = actionSpec;
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string suffix;
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if (actionSpec.NumContinuousActions == 0)
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{
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suffix = "-Discrete";
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}
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else if (actionSpec.NumDiscreteActions == 0)
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{
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suffix = "-Continuous";
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}
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else
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{
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suffix = $"-Continuous-{actionSpec.NumContinuousActions}-Discrete-{actionSpec.NumDiscreteActions}";
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}
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Name = name + suffix;
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}
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/// <inheritdoc />
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public void ResetData()
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{
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m_ActionBuffers = ActionBuffers.Empty;
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}
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/// <inheritdoc />
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public void OnActionReceived(ActionBuffers actionBuffers)
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{
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Profiler.BeginSample("VectorActuator.OnActionReceived");
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m_ActionBuffers = actionBuffers;
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m_ActionReceiver.OnActionReceived(m_ActionBuffers);
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Profiler.EndSample();
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}
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public void Heuristic(in ActionBuffers actionBuffersOut)
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{
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Profiler.BeginSample("VectorActuator.Heuristic");
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m_HeuristicProvider?.Heuristic(actionBuffersOut);
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Profiler.EndSample();
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}
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/// <inheritdoc />
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public void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
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{
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m_ActionReceiver.WriteDiscreteActionMask(actionMask);
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}
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/// <inheritdoc/>
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public ActionSpec ActionSpec { get; }
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/// <inheritdoc />
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public string Name { get; }
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}
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}
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